Object Dictionary List

CoE Communication Area

Index	Subindex	Name	Data type	Access right	Initial value	Comment
0x1000	0x00	Device Type	UDINT	RO	0x00020192	Refer to the detailed information 1
0x1001	0x00	Error Register	USINT	RO	-	Refer to the detailed information 1
0x1008	0x00	Manufacturer Device Name	STRING	RO	RC8	Refer to the detailed information 1
0x1009	0x00	Manufacturer Software Version	STRING	RO	V1.0	Refer to the detailed information 1
0x100A	0x00	Manufacturer Hardware Version	STRING	RO	V1.0	Refer to the detailed information 1
0x1018	-	Identity	-	-	-
0x1018	0x00	Number of Elements	USINT	RO	4	Refer to the detailed information 1
0x1018	0x01	Vendor Id	UDINT	RO	0x0000078A	Refer to the detailed information 1
0x1018	0x02	Product Code	UDINT	RO	0x00000001	Refer to the detailed information 1
0x1018	0x03	Revision Number	UDINT	RO	0x00000001	Refer to the detailed information 1
0x1018	0x04	Serial Number	UDINT	RO	-	Refer to the detailed information 1
0x1600	-	Axis 1 Receive PDO Mapping	-	-	-
0x1600	0x00	Number of Elements	USINT	RO	2
0x1600	0x01	Mapping Entry 1	UDINT	RO	0x60400010
0x1600	0x02	Mapping Entry 2	UDINT	RO	0x607a0020
0x1610	-	Axis 2 Receive PDO Mapping	-	-	-
0x1610	0x00	Number of Elements	USINT	RO	2
0x1610	0x01	Mapping Entry 1	UDINT	RO	0x68400010
0x1610	0x02	Mapping Entry 2	UDINT	RO	0x687a0020
0x1620	-	Axis 3 Receive PDO Mapping	-	-	-
0x1620	0x00	Number of Elements	USINT	RO	2
0x1620	0x01	Mapping Entry 1	UDINT	RO	0x70400010
0x1620	0x02	Mapping Entry 2	UDINT	RO	0x707a0020
0x1630	-	Axis 4 Receive PDO Mapping	-	-	-
0x1630	0x00	Number of Elements	USINT	RO	2
0x1630	0x01	Mapping Entry 1	UDINT	RO	0x78400010
0x1630	0x02	Mapping Entry 2	UDINT	RO	0x787a0020
0x1640	-	Axis 5 Receive PDO Mapping	-	-	-
0x1640	0x00	Number of Elements	USINT	RO	2
0x1640	0x01	Mapping Entry 1	UDINT	RO	0x80400010
0x1640	0x02	Mapping Entry 2	UDINT	RO	0x807a0020
0x1650	-	Axis 6 Receive PDO Mapping	-	-	-
0x1650	0x00	Number of Elements	USINT	RO	2
0x1650	0x01	Mapping Entry 1	UDINT	RO	0x88400010
0x1650	0x02	Mapping Entry 2	UDINT	RO	0x887a0020
0x1660	-	Axis 7 Receive PDO Mapping	-	-	-
0x1660	0x00	Number of Elements	USINT	RO	2
0x1660	0x01	Mapping Entry 1	UDINT	RO	0x90400010
0x1660	0x02	Mapping Entry 2	UDINT	RO	0x907a0020
0x1670	-	Axis 8 Receive PDO Mapping	-	-	-
0x1670	0x00	Number of Elements	USINT	RO	2
0x1670	0x01	Mapping Entry 1	UDINT	RO	0x98400010
0x1670	0x02	Mapping Entry 2	UDINT	RO	0x987a0020
0x1680	-	IO Receive PDO Mapping	-	-	-
0x1680	0x00	Number of Elements	USINT	RO	2
0x1680	0x01	Mapping Entry 1	UDINT	RO	0x30100010
0x1680	0x02	Mapping Entry 2	UDINT	RO	0x30110008
0x1A00	-	Axis 1 Transmit PDO Mapping	-	-	-
0x1A00	0x00	Number of Elements	USINT	RO	4
0x1A00	0x01	Mapping Entry 1	UDINT	RO	0x60410010
0x1A00	0x02	Mapping Entry 2	UDINT	RO	0x60640020
0x1A00	0x03	Mapping Entry 3	UDINT	RO	0x60780010
0x1A00	0x04	Mapping Entry 4	UDINT	RO	0x60740010
0x1A10	-	Axis 2 Transmit PDO Mapping	-	-	-
0x1A10	0x00	Number of Elements	USINT	RO	4
0x1A10	0x01	Mapping Entry 1	UDINT	RO	0x68410010
0x1A10	0x02	Mapping Entry 2	UDINT	RO	0x68640020
0x1A10	0x03	Mapping Entry 3	UDINT	RO	0x68780010
0x1A10	0x04	Mapping Entry 4	UDINT	RO	0x68740010
0x1A10	-	Axis 3 Transmit PDO Mapping	-	-	-
0x1A10	0x00	Number of Elements	USINT	RO	4
0x1A10	0x01	Mapping Entry 1	UDINT	RO	0x70410010
0x1A10	0x02	Mapping Entry 2	UDINT	RO	0x70640020
0x1A10	0x03	Mapping Entry 3	UDINT	RO	0x70780010
0x1A10	0x04	Mapping Entry 4	UDINT	RO	0x70740010
0x1A10	-	Axis 4 Transmit PDO Mapping	-	-	-
0x1A10	0x00	Number of Elements	USINT	RO	4
0x1A10	0x01	Mapping Entry 1	UDINT	RO	0x78410010
0x1A10	0x02	Mapping Entry 2	UDINT	RO	0x78640020
0x1A10	0x03	Mapping Entry 3	UDINT	RO	0x78780010
0x1A10	0x04	Mapping Entry 4	UDINT	RO	0x78740010
0x1A40	-	Axis 5 Transmit PDO Mapping	-	-	-
0x1A40	0x00	Number of Elements	USINT	RO	4
0x1A40	0x01	Mapping Entry 1	UDINT	RO	0x80410010
0x1A40	0x02	Mapping Entry 2	UDINT	RO	0x80640020
0x1A40	0x03	Mapping Entry 3	UDINT	RO	0x80780010
0x1A40	0x04	Mapping Entry 4	UDINT	RO	0x80740010
0x1A50	-	Axis 6 Transmit PDO Mapping	-	-	-
0x1A50	0x00	Number of Elements	USINT	RO	4
0x1A50	0x01	Mapping Entry 1	UDINT	RO	0x88410010
0x1A50	0x02	Mapping Entry 2	UDINT	RO	0x88640020
0x1A50	0x03	Mapping Entry 3	UDINT	RO	0x88780010
0x1A50	0x04	Mapping Entry 4	UDINT	RO	0x88740010
0x1A60	-	Axis 7 Transmit PDO Mapping	-	-	-
0x1A60	0x00	Number of Elements	USINT	RO	4
0x1A60	0x01	Mapping Entry 1	UDINT	RO	0x90410010
0x1A60	0x02	Mapping Entry 2	UDINT	RO	0x90640020
0x1A60	0x03	Mapping Entry 3	UDINT	RO	0x90780010
0x1A60	0x04	Mapping Entry 4	UDINT	RO	0x90740010
0x1A70	-	Axis 8 Transmit PDO Mapping	-	-	-
0x1A70	0x00	Number of Elements	USINT	RO	4
0x1A70	0x01	Mapping Entry 1	UDINT	RO	0x98410010
0x1A70	0x02	Mapping Entry 2	UDINT	RO	0x98640020
0x1A70	0x03	Mapping Entry 3	UDINT	RO	0x98780010
0x1A70	0x04	Mapping Entry 4	UDINT	RO	0x98740010
0x1A80	-	IO Transmit PDO Mapping	-	-	-
0x1A80	0x00	Number of Elements	USINT	RO	4
0x1A80	0x01	Mapping Entry 1	UDINT	RO	0x30000010
0x1A80	0x02	Mapping Entry 2	UDINT	RO	0x30010008
0x1A80	0x03	Mapping Entry 3	UDINT	RO	0x30020008
0x1C00	-	Sync Manager Communication Type	-	-	-
0x1C00	0x00	Number of Elements	USINT	RO	4
0x1C00	0x01	SubIndex 001	USINT	RO	1
0x1C00	0x02	SubIndex 002	USINT	RO	2
0x1C00	0x03	SubIndex 003	USINT	RO	3
0x1C00	0x04	SubIndex 004	USINT	RO	4
0x1C10	0x00	Sync Manager 0 PDO Assignment	USINT	RO	0
0x1C11	0x00	Sync Manager 1 PDO Assignment	USINT	RO	0
0x1C12	-	Sync Manager 2 PDO Assignment	-	-	-
0x1C12	0x00	Number of Elements	USINT	RO	9
0x1C12	0x01	SubIndex 001	USINT	RO	0x1600
0x1C12	0x02	SubIndex 002	USINT	RO	0x1610
0x1C12	0x03	SubIndex 003	USINT	RO	0x1620
0x1C12	0x04	SubIndex 004	USINT	RO	0x1630
0x1C12	0x05	SubIndex 005	USINT	RO	0x1640
0x1C12	0x06	SubIndex 006	USINT	RO	0x1650
0x1C12	0x07	SubIndex 007	USINT	RO	0x1660
0x1C12	0x08	SubIndex 008	USINT	RO	0x1670
0x1C12	0x09	SubIndex 009	USINT	RO	0x1680
0x1C13	-	Sync Manager 3 PDO Assignment	-	-	-
0x1C13	0x00	Number of Elements	USINT	RO	9
0x1C13	0x01	SubIndex 001	USINT	RO	0x1A00
0x1C13	0x02	SubIndex 002	USINT	RO	0x1A10
0x1C13	0x03	SubIndex 003	USINT	RO	0x1A20
0x1C13	0x04	SubIndex 004	USINT	RO	0x1A30
0x1C13	0x05	SubIndex 005	USINT	RO	0x1A40
0x1C13	0x06	SubIndex 006	USINT	RO	0x1A50
0x1C13	0x07	SubIndex 007	USINT	RO	0x1A60
0x1C13	0x08	SubIndex 008	USINT	RO	0x1A70
0x1C13	0x09	SubIndex 009	USINT	RO	0x1A80
0x1C32	-	Sync Manager Output Parameter	-	-	-
0x1C32	0x00	Number of Elements	USINT	RO	5
0x1C32	0x01	Synchronization type	UINT	RO	0x0000	Free-running (DC unused)
0x1C32	0x04	Synchronization type supported	UINT	RO	0x0001	Free-running mode
0x1C32	0x05	Minimumcycle time	UDINT	RO	0x0003d090	250000ns
0x1C33	-	Sync ManagerInput Parameter	-	-	-
0x1C33	0x00	Number of Elements	USINT	RO	5
0x1C33	0x01	Synchronization type	UINT	RO	0x0000	Free-running (DC unused)
0x1C33	0x04	Synchronization typesupported	UINT	RO	0x0001	Free-running mode
0x1C33	0x05	Minimumcycle time	UDINT	RO	0x0003d090	250000ns

Maker Spec Area

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x2100	0x00	Error Count	UDINT	RO	-	Refer to Acquiring Error Informaiton
0x2101	-	Error Record	-	-	-	-
0x2101	0x00	Number of Elements	USINT	RO	0x40	Refer to Acquiring Error Informaiton
0x2101	0x01 to 0x40	SubIndex001 to SubIndex064	UDINT	RO	-	Refer to Acquiring Error Informaiton
0x2200	0x00	Mass of Payload	UDINT	RO	-	Unit: g Refer to Acquiring Robot Data
0x2201	0x00	Load Rate(J1)	REAL	RO	-	Unit: % Refer to Acquiring Robot Data
0x2202	0x00	Load Rate(J2)	REAL	RO	-	Unit: % Refer to Acquiring Robot Data
0x2203	0x00	Load Rate(J3)	REAL	RO	-	Unit: % Refer to Acquiring Robot Data
0x2204	0x00	Load Rate(J4)	REAL	RO	-	Unit: % Refer to Acquiring Robot Data
0x2205	0x00	Load Rate(J5)	REAL	RO	-	Unit: % Refer to Acquiring Robot Data
0x2206	0x00	Load Rate(J6)	REAL	RO	-	Unit: % Refer to Acquiring Robot Data
0x2207	0x00	Load Rate(J7)	REAL	RO	-	Unit: % Refer to Acquiring Robot Data
0x2208	0x00	Load Rate(J8)	REAL	RO	-	Unit: % Refer to Acquiring Robot Data
0x3000	0x00	Mini IO	UINT	RO	-	RC8 -> External devices Refer to IO Allocation
0x3001	0x00	Hand IO	USINT	RO	-	RC8 -> External devices Refer to IO Allocation
0x3002	0x00	Status IO	USINT	RO	-	RC8 -> External devices Refer to IO Allocation
0x3010	0x00	Mini IO	UINT	RO	-	External devices -> RC8 Refer to IO Allocation
0x3011	0x00	Hand IO	USINT	RO	-	External devices -> RC8 Refer to IO Allocation

Profile Area (J1)

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x6040	0x00	Controlword(J1)	UINT	RW	0	Refer to Device Control
0x6041	0x00	Statusword(J1)	UINT	RO	-	Refer to Device Control
0x6060	0x00	Modes of Operation(J1)	SINT	RW	0x08	Cyclic sync Position modefixed Refer to the detailed information 2
0x6061	0x00	Modes of Operation Display(J1)	SINT	RO	0x08	Refer to the detailed information 2
0x6064	0x00	Position ActualValue(J1)	DINT	RO	-	Unit: degx65536 Refer to the detailed information 2
0x6065	0x00	Following ErrorWindow(J1)	UDINT	RW	-	Reserved Disable
0x6066	0x00	Following ErrorTime Out(J1)	UINT	RW	-	Reserved Disable
0x606C	0x00	Velocity ActualValue(J1)	DINT	RO		Reserved Disable
0x6074	0x00	Torque DemandValue(J1)	INT	RO	-	Unit:0.1% Refer to the detailed information 2
0x6077	0x00	Torque ActualValue(J1)	INT	RO	-	Reserved Disable
0x6078	0x00	Current ActualValue(J1)	INT	RO	-	Unit:0.1% Refer to the detailed information 2
0x607A	0x00	TargetPosition(J1)	DINT	RW	0	Unit:degx65536 Refer to the detailed information 2
0x607B	0x00	Position RangeLimit(J1)	-	-	-	Reserved Disable
0x607B	0x00	Number of Elements	USINT	RO	2	Reserved Disable
0x607B	0x01	Min PositionLimit	DINT	RW	0	Reserved Disable
0x607B	0x02	Max PositionLimit	DINT	RW	0	Reserved Disable
0x607D		Soft PositionLimit(J1)	-	-	-	Reserved Disable
0x607D	0x00	Number of Elements	USINT	RO	2	Reserved Disable
0x607D	0x01	Min PositionLimit	DINT	RW	0	Reserved Disable
0x607D	0x02	Max PositionLimit	DINT	RW	0	Reserved Disable
0x6080	0x00	Max MotorSpeed(J1)	REAL	RO	-	Unit:deg/sˆ2 Refer to Acquiring Robot Data
0x60B1	0x00	Velocity offset(J1)	DINT	RW	0	Reserved Disable
0x60B2	0x00	Torque offset(J1)	INT	RW	0	Reserved Disable
0x60C2	-	Interpolation Time Period(J1)	-	-	-	Reserved Disable
0x60C2	0x00	Number of Elements	USINT	RO	2	Reserved Disable
0x60C2	0x01	Interpolation Time Period	USINT	RW	0	Reserved Disable
0x60C2	0x02	Interpolation Time Index	SINT	RW	0	Reserved Disable
0x60C5	0x00	Max Acceleration(J1)	REAL	RO	-	Unit:deg/sˆ2 Refer to Acquiring Robot Data
0x60D9	0x00	Supported Synchronization Functions(J1)	UDINT	RO	0x0004	Refer to the detailed information 2
0x60DA	0x00	Supported Synchronization Settings(J1)	UDINT	RW	0x0000	Refer to the detailed information 2
0x60F4	0x00	Following Error Actual Value(J1)	DINT	RO	-	Reserved Disable
0x60FF	0x00	Target Velocity(J1)	DINT	RW	-	Reserved Disable
0x6502	0x00	Supported Drive Modes(J1)	UDINT	RO	0x0000180	Refer to the detailed information 2

Profile Area (J2-J8)

• J2 added 0x800 to Index of J1.
• J3 added 0x1000 to Index of J1.
• J4 added 0x1800 to Index of J1.
• J5 added 0x2000 to Index of J1.
• J6 added 0x2800 to Index of J1.
• J7 added 0x3000 to Index of J1.
• J8 added 0x3800 to Index of J1.

Detailed Information 1

Device Type

This object shows the device type.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x1000	0x00	Device Type	UDINT	RO	0x00020192

Describe the data

Added information: 0002(Servo drives)

Device profile No: 0192(DS402)

Error Register

This object shows error conditions of device.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x1001	0x00	Error Register	USINT	RO	-

Describe the data

0:No error

1:Error occurs

Manufacturer Device Name

This object shows model names.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x1008	0x00	Manufacturer Device Name	STRING		RC8

Manufacturer Software Version

This object shows a software version.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x1009	0x00	Manufacturer Software Version	STRING		V1.0

Manufacturer Hardware Version

This object shows a hardware version.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x100A	0x00	Manufacturer Hardware Version	STRING		V1.0

Identity

This object shows that general information about the device.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x1018	-	Identity	-	-	-
0x1018	0x00	Number of Elements	USINT	RO	4
0x1018	0x01	Vendor Id	UDINT	RO	0x0000078A
0x1018	0x02	Product Code	UDINT	RO	0x00000001
0x1018	0x03	Revision Number	UDINT	RO	0x00000001
0x1018	0x04	Serial Number	UDINT	RO	-	Serial No. of the board

Detailed Information 2

This section describes about the 1st axis; the descriptions of the 2nd to the 8th axes are the same.

Modes of Operation

This object can select the operation mode and is fixed to 8: Cyclic sync position mode. Actual operation mode is shown on Modes of Operation Display. Cyclic sync position mode performs to tracking a consective position command value.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x6060	0x00	Modes of Operation(J1)	SINT	RW	0x08
0x6061	0x00	Modes of Operation Display(J1)	SINT	RO	0x08

Position Actual Value

This object shows a position actual value.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x6064	0x00	Position ActualValue(J1)	DINT	RO	-	Unit: deg x65536

Torque Demand Value

This object shows a torque demand value.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x6074	0x00	Torque DemandValue(J1)	INT	RO	-	Unit : 0.1%

Current Actual Value

This object shows a current actual value.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x6078	0x00	Current ActualValue(J1)	INT	RO	-	Unit : 0.1%

Target Position

This object shows a target position.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x607A	0x00	Target Position(J1)	DINT	RO	-	Unit : deg x65536

Supported Synchronization Functions

This object shows that the device is able to use Cycle counter.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x60D9	0x00	Supported Synchronization Functions(J1)	UDINT	RO	0x0004

Describe the data

4:Able to use

Supported Synchronization Settings

This object shows whether Cycle counter will be used or not.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x60DA	0x00	Supported Synchronization Settings(J1)	UDINT	RW	0x0000

Describe the data

0:Non-use (When setting SlaveMotion Synchronization option to 0: Disable notification)

4:Use (When setting SlaveMotion Synchronization option to 1: Enable notification)

Supported Drive Modes

This object shows Operation mode which a device supports.

Index	Subindex	Name	Datatype	Accessright	Initial value	Comment
0x6502	0x00	Supported Drive Modes(J1)	UDINT	RO	0x0000180

Describe the data

0x0180: Corresponds to Cyclic sync position mode and Cyclic sync velocity mode